A Fully Automatic Calibration Algorithm for a Camera Odometry System
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AbstractThis paper focuses on the calibration of a mobile robot system with odometry and a monocular camera. Most current approaches are based on either batch optimization or Bayesian filter, which require a good initial guess to obtain the optimal calibration results. In this paper, a two-step calibration algorithm is proposed for a fully automatic calibration of the camera-odometry system, consisting of: 1) a non-iterative auto initialization step for spatial extrinsic calibration based on the landmark measurements and 2) a joint optimization step to estimate both the spatio-temporal extrinsic parameters and the odometric parameters. By exploiting the planar constraints of landmark measurements, our auto initialization method can achieve better accuracy compared with the current solutions. Experiments are conducted based on both the simulation data sets and also the real world data sets collected from an autonomous guided vehicle (AGV) system, which validate our algorithm compared with a VO-based non-iterative method.
All Author(s) ListTang HB, Liu YH
Journal nameIEEE Sensors Journal
Volume Number17
Issue Number13
Pages4208 - 4216
LanguagesEnglish-United Kingdom
KeywordsCalibration, mobile robot
Web of Science Subject CategoriesEngineering, Electrical & Electronic;Instruments & Instrumentation;Physics, Applied;Engineering;Instruments & Instrumentation;Physics

Last updated on 2021-20-01 at 02:14